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DDOC00247 / d
EN / 2020-07-20
Zimmer GmbH
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Im Salmenkopf 5
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77866 Rheinau, Germany
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+49 7844 9138 0
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+49 7844 9138 80
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www.zimmer-group.com
INSTALLATION AND OPERATING INSTRUCTIONS:
Gripper, pneumatically intelligent, GPP/GPD5000-IL series
8.3.9 Sensing the end position
Two bits in the "status" parameter give feedback about the end positions.
The "BasePosition" bit (status = 768) is set when the base position is reached.
Accordingly, the "WorkPosition" bit (status = 1024) is set when the "WorkPosition" is reached.
The sensing of the end positions of the gripper is preset at the factory to the maximum possible stroke of the gripper.
For special gripper jaws, if necessary, the end positions can be reset using an automated traversing routine. This means
that the "WorkPosition" or "BasePosition" will reference itself again accordingly.
►
For this purpose, the "AdjustBit" in the "ControlWord" has to be set to 2048 for at least 2 seconds in the "ControlWord."
Ö
It is a requirement that there are no additional bits set in the "ControlWord."
If this bit is canceled before the end of the traversing routine, the procedure must be repeated since the end positions are
not correctly determined.
WARNING:
When the bit is set, a movement is immediately triggered at the gripper!
Risk of injury
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Before setting the bit, check whether the movement range of the gripper is clear.
8.4 Service parameters
8.4.1 "Status" 0x40
This parameter can be used to read out the "StatusWord" of the gripper.
Name
"StatusWord"
Data format
UINT16
Permission
Read
Transfer
Acyclical
8.4.2 "Diagnosis" 0x41
This parameter can be used to read out the "DiagnosisWord" of the gripper.
Notice: Corresponds to the process data field.
Name
"Diagnosis"
Data format
UINT16
Permission
Read
Transfer
Acyclical
8.4.3 "CycleCounter" 0x42
This parameter can be used to read out the total number of cycles of the gripper. During each gripping cycle, this parameter
is incremented.
Name
"CycleCounter"
Data format
UINT32
Permission
Read
Transfer
Acyclical
